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TRAJECTORY CONTROL OF A MOBILE ROBOT UNDER CONDITIONS OF UNCERTAINTY

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The problem of controlling the movement of a mobile robot along a given smooth trajectory with a desired speed under the conditions of uncertainty of the mathematical model is analyzed. Two approaches to determining the minimum distance from the robot to the trajectory are considered: an exact analytical calculation and application of a nonlinear observer which guarantees the convergence of current estimate to the true value in an arbitrarily short time. A motion control algorithm is presented based on the sequential compensator method, which ensures a limited deviations of the robot from a given trajectory.

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